#ifndef GODEEP_H #define GODEEP_H (0x0040U) /*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * $Id: godeep.c,v 1.11 2007/05/08 18:10:39 swift Exp $ *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/ /* Copyright University of Washington. Written by Dana Swift. * * This software was developed at the University of Washington using funds * generously provided by the US Office of Naval Research, the National * Science Foundation, and NOAA. * * This library is free software; you can redistribute it and/or modify it * under the terms of the GNU Lesser General Public License as published by * the Free Software Foundation; either version 2.1 of the License, or (at * your option) any later version. * * This library is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser * General Public License for more details. * * You should have received a copy of the GNU Lesser General Public License * along with this library; if not, write to the Free Software Foundation, * Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ /** RCS log of revisions to the C source code. * * \begin{verbatim} * $Log: godeep.c,v $ * Revision 1.11 2007/05/08 18:10:39 swift * Added attribution just below the copyright in the main comment section. * * Revision 1.10 2006/08/17 21:17:59 swift * Modifications to allow better logging control. * * Revision 1.9 2006/04/21 13:45:42 swift * Changed copyright attribute. * * Revision 1.8 2006/03/15 16:00:48 swift * Eliminate vestiges of ModemDefibrillator() calls by removing include directives. * * Revision 1.7 2006/02/28 18:43:22 swift * Eliminated the apf9icom.h header. * * Revision 1.6 2006/02/28 16:34:23 swift * Eliminated the modem defibrillation kludge because the fundamental problem * with nonresponsive LBT9522a modems was found and fixed. * * Revision 1.5 2006/01/31 19:26:19 swift * Added LBT defibrillation kludge. * * Revision 1.4 2004/12/29 23:11:27 swift * Modified LogEntry() to use strings stored in the CODE segment. This saves * lots of space in the DATA segment and significantly speeds code start-up. * * Revision 1.3 2003/11/20 18:59:47 swift * Added GNU Lesser General Public License to source file. * * Revision 1.2 2003/09/13 14:33:41 swift * Added GoDeepTerminate() to clean up the termination of the deep-descent phase. * * Revision 1.1 2003/09/11 21:32:25 swift * Initial revision * \end{verbatim} *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/ #define GoDeepChangeLog "$RCSfile: godeep.c,v $ $Revision: 1.11 $ $Date: 2007/05/08 18:10:39 $" /* enumerate piston-adjustment options when the deep-descent phase is terminated */ enum PistonAdjustment {RETRACT=-1,EXTEND=1}; /* function prototypes */ int GoDeep(void); int GoDeepInit(void); int GoDeepTerminate(enum PistonAdjustment pa); #endif /* GODEEP_H */ #include #include #include #include #include #include /*------------------------------------------------------------------------*/ /* execute tasks during the deep-descent phase of the mission cycle */ /*------------------------------------------------------------------------*/ /** This function executes regularly scheduled tasks during the deep-descent phase of the mission cycle. A positive value is returned on success; otherwise zero is returned. */ int GoDeep(void) { /* define the logging signature */ static cc FuncName[] = "GoDeep()"; int status=1; float p; /* bail out of the descent phase if the pressure channel fails */ if (GetP(&p)<=0) {ProfileInit(); status=0;} /* detection criteria for sequence point: Q */ else if (p>=mission.PressureProfile) { /* create the message */ static cc format[]="Sequence point detected at %0.1fdbar.\n"; /* make the logentry */ LogEntry(FuncName,format,p); /* terminate the deep-descent phase */ GoDeepTerminate(EXTEND); /* initialize the profile phase */ ProfileInit(); /* signal the end of the descent phase */ status=0; } return status; } /*------------------------------------------------------------------------*/ /* function to initialize the deep-descent phase of the profile cycle */ /*------------------------------------------------------------------------*/ /** This function initializes the descent phase of the mission cycle. A positive value is returned on success; otherwise zero is returned. */ int GoDeepInit(void) { /* define the logging signature */ static cc FuncName[] = "GoDeepInit()"; int status=1; /* set the state variable */ StateSet(GODEEP); /* make a log entry */ if (debuglevel>=2 || (debugbits&GODEEP_H)) { /* create the message */ static cc msg[]="Moving piston.\n"; /* make the logentry */ LogEntry(FuncName,msg); } /* set the 'deep profile' bit in the status word */ vitals.status |= DeepPrf; /* move the piston to the profile piston position */ PistonMoveAbs(mission.PistonDeepProfilePosition); return status; } /*------------------------------------------------------------------------*/ /* function to terminate the deep-descent phase of the mission cycle */ /*------------------------------------------------------------------------*/ /** This function terminates the deep-descent phase of the mission cycle. A positive value is returned on success; otherwise zero is returned. */ int GoDeepTerminate(enum PistonAdjustment pa) { /* define the logging signature */ static cc FuncName[] = "GoDeepTerminate()"; int status=1; switch (pa) { case EXTEND: { /* see if the deep piston position can be adjusted */ if (mission.PistonDeepProfilePositionmission.PistonFullRetraction) { /* decrement the deep piston position to speed the descent rate */ --mission.PistonDeepProfilePosition; } break; } default: { /* create the message */ static cc format[]="Invalid piston adjustment option: %d\n"; /* make the logentry */ LogEntry(FuncName,format,pa); } } /* recompute the signature of the mission configuration */ mission.crc = Crc16Bit((unsigned char *)(&mission), sizeof(mission)-sizeof(mission.crc)); return status; }